Calculating the Inverse Kinematic (IK) equations is a complex problem due to the nonlinearity of these equations. Choosing the end effector orientation affects the reach of the target location. The Forward Kinematics (FK) of Humanoid Robotic Legs (HRL) is determined by using DenavitHartenberg (DH) method. The HRL has two legs with five Degrees of Freedom (DoF) each. The paper proposes using a Particle Swarm Optimization (PSO) algorithm to optimize the best orientation angle of the end effector of HRL. The selected orientation angle is used to solve the IK equations to reach the target location with minimum error. The performance of the proposed method is measured by six scenarios with different simulated positions of the legs. The proposed method is compared with procedures that used different optimization algorithms such as Genetic Algorithm (GA), Differential Evolution (DE), and Invasive Weed Optimization (IWO). The Root Mean Square Error (RMSE) and computation time are used as comparison measures. The proposed method gives the best results among others, and it reaches the target location with an average RMSE of 10-12 with 2.5 seconds average computation time.
Intrinsic viscosities have been studied for polyethylene oxide in water which has wide industrial applications. The polyethylene oxide samples had two different structures, the first one was linear and covers a wide range of molecular weight of 1, 3, 10, 20, 35, 99, 370, 1100, 4600, and 8000 kg/mol and the second one was branched and had molecular weights of 0.55 and 40 kg/mol.
Intrinsic viscosities and Huggins constants have been determined for all types and molecular weights mentioned above at 25ºC using a capillary viscometer. The values of Mark-Houwink parameters (K and a) were equal to 0.0068 ml/g and 0.67 respectively, and have not been published for this range of molecular weight in as yet.
The present work intends to study of dc glow discharge were generated between pin (cathode) and a plate (anode) in Ar gas is performed using COMSOL were used to study electric field distribution along the axis of the discharge and also the distribution of electron density and electron temperature at constant pressure (P=.0.0mbar) and inter electrode distance (d=4 cm) at different applied voltage for both pin cathode system and plate anode and comparison with experimental results.
The corrosion behavior and corrosion inhibition of α-brass (65.3% Cu, 34.4% Zn and others 0.3%) in 0.6 mol.dm-3 NaCl solution have been investigated using potentiostatic polarization technique, the main results obtained were expressed in terms of corrosion (Ec) and corrosion current (ic). The research was performed in neutral and slightly acidic media [pH=7 and pH=4] over the temperature range (288-318)K. It was found that the rate of corrosion increases with the increase of acidity and the increase of temperature. The rate of corrosion increased with the increase of temperature in conformity with Arrhenius equation. Values of activation energy (Ea*), pre-exponential factor (A) and entropy of activation (∆S*) have been derived f
... Show MoreIn this research, an investigation for the compatibility of the IRI-2016 and ASAPS international models was conducted to evaluate their accuracy in predicting the ionospheric critical frequency parameter (foF2) for the years 2009 and 2014 that represent the minimum and maximum years of solar cycle 24. The calculations of the monthly average foF2 values were performed for three different selected stations distributed over the mid-latitude region. These stations are Athens - Greece (23.7o E, 37.9 o N), El Arenosillo - Spain (-6.78 o E, 37.09 o N), and Je Ju - South Korea (124.53 o E, 33.6 o N). The calculated v
... Show MoreMore than 95% of the industrial controllers in use today are PID or modified PID controllers. However, the PID is manually tuning to be responsive so that the Process Variable is rapidly and steady moved to track the set point with minimize overshoot and stable output. The paper presents generic teal-time PID controller architecture. The developed architecture is based on the adaption of each of the three controller parameters (PID) to be self- learning using individual least mean square algorithm (LMS). The adaptive PID is verified and compared with the classical PID. The rapid realization of the adaptive PID architecture allows the readily fabrication into a hardware version either ASIC or reconfigurable.
In this research, the program SEEP / W was used to compute the value of seepage through the homogenous and non-homogeneous earth dam with known dimensions. The results show that the relationship between the seepage and water height in upstream of the dam to its length for saturated soil was nonlinear when the dam is homogenous. For the non-homogeneous dam, the relationship was linear and the amount of seepage increase with the height of water in upstream to its length. Also the quantity of seepage was calculated using the method of (Fredlund and Xing, 1994) and (Van Genuchten, 1980) when the soil is saturated – unsaturated, the results referred to that the higher value of seepage when the soil is saturated and the lowe
... Show MoreFresh water resources in terms of water quality is a crucial issue worldwide. In Egypt, the Nile River is the main source of fresh water in the country and monitoring its water quality is a major task on governments and research levels. In the present case study, the physical, chemical and algal distribution in Nile River was monitored over two seasons (winter and summer) in 2019. The aims of the study were to check the seasonal variation among the different water parameters and also to check the correlations between those parameters. Water samples were collected from the Nile in Cairo governorate in EGYPT. The different physiochemical and microbiological properties in water samples were assessed. The studied parameters were included: te
... Show MoreIn this work, the optical emission spectrum technique was used to analyze the optical emission spectrum of (CdO: Fe) plasma produced by laser Nd: YAG with a wavelength of (532) nm, a period of 10 ns, and a focal length of 10 cm in the energy range of (200-500) mJ. The electron temperature (Te) was determined using the method of line intensities ratio. Using the Saha-Boltzmann equation, the electron density (ne) was determined. Other plasma parameters such as plasma frequency (fp), Debye length (λD) and Debye number (ND) were also measured. The CdO: Fe (at a mixing ratio of X= 0.5.) plasma spectrum was observed for different energies. As a fu
... Show MoreThe presence of a single complex adaptive weight in each element channel of an adaptive array antenna is sufficient for processing of narrowband signals. The ability of an adaptive array antenna to null interference deteriorates rapidly as the interference bandwidth increases. The performance of narrowband adaptive array antenna with LMCV Beamforming algorithm is examined. The interaction effects between received signal angle of arrival and array parameters like the interelement spacing and the number of array element and the received signal bandwidth were studied. The output Signal to Interference plus Noise Ratio (SINR) and Interference to Noise Ratio (INR) are used as performance parameters for evaluation of these effects. It is found
... Show MoreObjective: Detection the level of YKL-40 biochemical marker and vitamin D level in sera of Iraqi uterine cancer
females' patients.
Methodology: This study included 90 female volunteers, 30 of them were healthy volunteers who were
considered as a control group, while sixty serum samples were collected from women patients suffering from
uterine tumors (30 malignant and 30 fibroid benign tumors), benign cases were considered as a disease
control group for malignant tumors. The average age of those females was 30-75 years, which matched the
control group. All the samples were collected from Azady hospital in Kirkuk and the gynecologic department at
Medical City in Baghdad during October /2012 to May /2013. All the serum